std_msgs/Header  header

##################### ELKA-Related #####################
# ELKA Status;Indicate ELKA Function status: 0x0-OFF, 0x1-Passive, 0x2-Ready, 0x3-Active, 0x4-Fault.
int8    elka_status

# elka intervention_direction;indicate elka function intervention direction(enum): 0x0-no intervention, 0x1-left intervention, 0x2-right intervention, 0x3-both intervention, 0x4~0x7-reserved.
int8    elka_intervention_direction

##################### LDW-Related #####################
# ldw status,indicate ldw(lane detection warning) function status: 0x0-off, 0x1-passive, 0x2-ready, 0x3-active, 0x4-fault.
int8    ldw_status

# ldw warn,ldw waring status(enum): 0x0-no warning, 0x1-left warning, 0x2-right warning, 0x3-reserved.
int8    ldw_warn

##################### LDP-Related #####################
# LDP Status;Indicate LDP( Lane Depature Protection ) Function status: 0x0-OFF, 0x1-Passive, 0x2-Ready, 0x3-Active, 0x4-Fault.
int8    ldp_status

# LDP Intervention_direction;Indicate LDP( Lane Depature Protection ) Function intervention direction(enum): 0x0-No Intervention, 0x1-Left Intervention, 0x2-Right Intervention, 0x3-Both Intervention, 0x4~0x7-Reserved.
int8    ldp_intervention_direction

##################### LCC-Related #####################
# lcc status;indicate lcc function status: 0x0-off, 0x1-passive, 0x2-ready, 0x3-active, 0x4-fault.
int8    lcc_status

##################### ACC-Related #####################
#Set speed of cruise control; Unit:KPH; Value: 10000(default/error);
float32  cc_set_speed

#Time_Gap of ACC function; Unit:s; Value: 10000(default/error);
float32  time_gap

#acc mode enum: ACCSTS_OFF = 0U, ACCSTS_STB = 1U, ACCSTS_STOPTMP = 2U, ACCSTS_STOP = 3U, ACCSTS_ACTV = 4U, ACCSTC_OVERRIDE = 5U.
int8    acc_mode

#acc warn tyep: ACCWARN_NOWARN = 0U, ACCWARN_DECEL_NOTENOUGH = 1U, ACCWARN_TYPE2 = 2U, ACCWARN_TYPE3 = 3U, ACCWARN_TYPE4 = 4U, 
#               ACCWARN_TYPE5 = 5U,
int8    acc_warn

#relative range to the CIP object
float32 cip_obj_display_relative_range

#UNKNOWN=0:未知类型, PEDESTRIAN=1:行人, BICYCLE=2:自行车, VEHICLE=3:车辆, MOTORCYCLE=4:摩托车或电动车, TRICYCLE=5:三轮车, CONE=6:锥筒 *
uint8   cip_obj_display_obj_type


##################### SLIF-Related #####################
#ISA Status Code; Value of enum: ISASTS_OFF = 0U, ISASTS_STB = 1U, ISASTS_ACTV = 2U, ISASTS_WARN = 3U, ISASTS_FAIL = 4U;
int8    isa_statuscode

#ISA Limit Speed; Unit:KPH; Value: National speed limit for appropriate road(default/error);
float32 limit_speed

#ISA Failure Type;Value of enum: ISA_NOFAIL = 0U, ISA_NOTSR = 1U, ISA_NOCAN = 2U, ISA_NOLOCATION = 3U, UNKNOWN_FAIL = 4U; 
int8 isa_failure_type


##################### IHBC-Related #####################
#IHBC Status Code; Value of enum: IHBCSTS_OFF = 0U, IHBCSTS_Active = 1U, IHBCSTS_Ready = 2U, IHBCSTS_Passive = 3U,  IHBCSTS_Error = 255U
uint8    ihbc_statuscode

#IHBC run mode; Value of enum: UNKNOWN = 0U,  Intelligent_control = 1U, Manual_control = 2U
uint8    ihbc_workmode

##################### AEB-Related #####################
# AEB trigger info
# AEB Function Trigger Flag. 0=NO_SET, 1=SET.
uint8   aeb_brake_flag

# Prefill trigger info
# Prefill Function Trigger Flag. 0=NO_SET, 1=SET.
uint8   aeb_prefill_flag

# DW trigger info
# latent_warn Function Trigger Flag. 0=NO_SET, 1=SET.
uint8   dw_flag


##################### FDW-Related #####################
# FCW trigger info
# FCW Level 1 Alarm Function Trigger Flag.  0=NO_SET, 1=SET.
uint8   prewarn_flag

# fcw level 2 alarm function trigger flag.  0=no_set, 1=set.
uint8   jerk_flag


